用于基础设施检查和维修的直角操作机

Nicolas Cortes, Manuel J. Fernández, G. Heredia, A. Ollero
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引用次数: 0

摘要

这项工作描述了一个通用的2- DoF笛卡尔机械臂的设计和用例实验,该机械臂具有广泛的工作空间,允许执行自主接触操作。该机械手可以被视为一个自主系统,因此它可以安装在任何无人机器人系统(URS)上,并从其所在的主平台接收命令。它的使用旨在提高操作人员在危险情况和难以进入区域的安全性。由于末端执行器可以放置任何传感器或执行器,允许与检查和维护相关的广泛操作。采用钢筋探测器作为末端执行器对混凝土桥梁和隧道进行了检测,并在实际环境中进行了验证实验。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Cartesian manipulator for infrastructure inspection and maintenance
This work describes the design and use case experiments of a versatile 2- DoF Cartesian manipulator with a wide workspace that allows performing autonomous contact operations. The manipulator can be treated as an autonomous system, so it can be mounted on any Unmanned Robotic System (URS) and receive commands from the main platform where it is placed. Its use aims to improve the safety of operators covering risk situations and difficult access areas. As end-effector can be placed any sensor or actuator, allowing a wide range of operations related to inspection and maintenance. The system has been tested using a rebar detector as end-effector for inspection of concrete bridges and tunnels with validation experiments in a real environment.
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